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Height estimation of obstacles is a valuable resource for safer and accurate locomotion of autonomous robots and vehicles. This research proposes a new height estimation method using only a monocular camera based on chronological correction of road unevenness. The method applies the traditional flat surface model to compute the distance to points on the ground but estimates and corrects the influence...
Fish abundance estimation with the aid of visual analysis has drawn increasing attention based on the underwater videos from a remotely-operated vehicle (ROV). We build a novel fish tracking and counting system followed by tracking-by-detection framework. Since fish may keep entering or leaving the field of view (FOV), an offline trained deformable part model (DPM) fish detector is adopted to detect...
Nowadays capturing the image of eyeball with camera and estimating gaze points using pupil positions is the most common method for eye-tracking devices. Head-mounted eye-tracking equipment has a wide range of application because of its flexibility and high gaze estimation accuracy. But the user's head should keep still using a chin rest or other tools, or will lead to enormous gaze estimation errors...
In this paper, it is shown that the Enhanced Unified Camera Model, which is used to model fisheye cameras, projects straight lines into conic sections. Then a way to find equations of straight line projections is proposed. The method is applied to epipolar curves to adapt the Semi-Global Matching algorithm to fisheye stereo systems to compute a dense direct stereo correspondence without undistortion...
To be able to predict the evolution of the driving context, estimate the expected risks and plan future behavior alternatives, it is crucial to know where traffic participants can go and where they will most likely go. Consequently, for future Advanced Driver Assistance Systems (ADAS), precise, lane-accurate localization of the ego- as well as the other vehicles is a key technology. The proposed standard...
Many studies have developed methods of making three-dimensional measurements from fisheye images. Most of these methods assume a single-viewpoint model. However, the viewpoint of a fisheye lens shifts along the optical axis according to the incident angle between the optical axis and the incident light ray. The author previously analyzed the error resulting from using the single-viewpoint model for...
In this paper we propose a pipeline for estimating 3D room layout with object and material attribute prediction using a spherical stereo image pair. We assume that the room and objects can be represented as cuboids aligned to the main axes of the room coordinate (Manhattan world). A spherical stereo alignment algorithm is proposed to align two spherical images to the global world coordinate system...
We propose a new technique for computing dense scene flow from two handheld videos with wide camera baselines and different photometric properties due to different sensors or camera settings like exposure and white balance. Our technique innovates in two ways over existing methods: (1) it supports independently moving cameras, and (2) it computes dense scene flow for wide-baseline scenarios. We achieve...
We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain highly accurate spatiotemporal reconstructions of shape and motion. We solve the underlying optimization problem at real-time frame rates using a novel data-parallel...
We observe that in many applications, the motion present in a scene is well characterized by a small number of (rigid) motion hypotheses. Based on this observation, we present rigid multi-motion optical flow (RMM). By restricting flow to one of several motion hypotheses, RMM produces more accurate optical flow than arbitrary motion models. We evaluate an algorithm based on RMM on a novel synthetic...
This paper presents a new approach whichbuilds 360-degree cylindrical panoramic images from multiple cameras. In order to ensure a perceptually correct result, mosaicing typically requires either a planar or near-planar scene, parallax-free camera motion between source frames, or a dense sampling of the scene. When these conditions are not satisfied, various artifacts may appear. There are many algorithms...
In this research, a technique for dense 3D reconstruction from two spherical images clicked at displaced positions near a large structure is formulated. The technique is based on the use of global variational information i.e. the dense optical flow field in a unique rectification based refinement of the epipolar geometry between the two images in a vertically displaced orientation. A non-linear minimization...
In this paper we present a new distributed technique to geometrically calibrate multiple casually aligned projectors on a fiducial free arbitrary surface using multiple casually aligned cameras where every point of the surface is seen by at least one camera. Using a multi-step method that uses binary blob patterns, we estimate robustly the display's 3D surface geometry, the cameras' extrinsic parameters,...
This paper addresses the issue of local information on the Artificial Potential Field (APF). The APF is designed as the path planning with global information usually. For the real time platform in the vast area, it is hard for the sensor to acquire data environment in the global view method. Generally, the sensor is attached on the robot itself that only could be obtained the local information. This...
In this research, a method for dense 3D reconstruction of structures from small motion of a spherical camera is proposed. Spherical cameras can capture information from all directions enabling measurement of the entire surrounding structure at once. The proposed technique uses two spherical images clicked at slightly displaced positions near the structure, followed by a combination of feature-point...
This paper presents a new approach for pedestrian detection in the context of Driver Assistance Systems (DAS). Given a camera with known intrinsic parameters, a flexible online calibration scheme that explores the expected road geometry is used to obtain the extrinsic parameters. With the full camera parameters, the expected geometry and size of a standing person is used to customize a baseline pedestrian...
A method is presented to effectively scan the 3-D surface(s) of a target comprising of quadric components for simulating the 2-D image acquired by a forward-scan sonar for a given pose. This involves a closed-form solution to compute the coordinates of a point on the target surface(s), projecting onto a given image pixel. A certain advantage over previous algorithms is we generate a minimal set of...
Proper scene inference provides the basis for a seamless integration of virtual objects into the real environment. While widely neglected in many AR/MR environments, previous approaches providing good results were based on rather complex setups, often involving mirrored balls, several HDR cameras, and fish eye lenses to achieve proper light probes. In this paper we present an approach requiring a...
Discrepancy check is a well-known task in industrial Augmented Reality (AR). In this paper we present a new approach consisting of three main contributions: First, we propose a new two-step depth mapping algorithm for RGB-D cameras, which fuses depth images with given camera pose in real-time into a consistent 3D model. In a rigorous evaluation with two public benchmarks we show that our mapping outperforms...
We present a method for recovering both incident lighting and surface materials from casually scanned geometry. By casual, we mean a rapid and potentially noisy scanning procedure of unmodified and uninstrumented scenes with a commodity RGB-D sensor. In other words, unlike reconstruction procedures which require careful preparations in a laboratory environment, our method works with input that can...
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